Vehicle control system with traffic driving control

ABSTRACT

A control system for a vehicle includes a camera disposed at a vehicle and having a field of view exterior of the vehicle. An image processor is operable to process image data captured by the camera to at least detect objects or other vehicles. The control system, responsive to determination of a traffic condition, is operable to control a steering system of the vehicle. Responsive at least in part to image processing of captured image data, the control system is operable to detect a lane splitting vehicle approaching or adjacent to the vehicle. With the vehicle traveling in an occupied traffic lane and responsive to detection of the lane splitting vehicle approaching the vehicle, the control system controls the steering system of the vehicle to move the vehicle in a direction away from a side region of the occupied lane at which the lane splitting vehicle is detected.

CROSS REFERENCE TO RELATED APPLICATIONS

The present application is related to U.S. provisional applications,Ser. No. 61/953,970, filed Mar. 17, 2014, Ser. No. 61/919,133, filedDec. 20, 2013, and Ser. No. 61/915,218, filed Dec. 12, 2013, which arehereby incorporated herein by reference in their entireties.

FIELD OF THE INVENTION

The present invention relates to imaging systems or vision systems forvehicles.

BACKGROUND OF THE INVENTION

Use of imaging sensors in vehicle imaging systems is common and known.Examples of such known systems are described in U.S. Pat. Nos.5,949,331; 5,670,935; and/or 5,550,677, which are hereby incorporatedherein by reference in their entireties.

SUMMARY OF THE INVENTION

The present invention provides a vision system or imaging system for avehicle that utilizes one or more cameras to capture images exterior ofthe vehicle (such as forwardly and rearwardly of the vehicle), andprovides the communication/data signals, including camera data or imagedata, that may be displayed at a display screen that is viewable by thedriver of the vehicle, such as when the driver is backing up thevehicle, and that may be processed and, responsive to such imageprocessing, the system may detect an object at or near the vehicle andin the path of travel of the vehicle, such as when the vehicle isbacking up. The vision system may be operable to display a surround viewor bird's eye view of the environment at or around or at least partiallysurrounding the subject or equipped vehicle.

According to an aspect of the present invention, a vision system for avehicle includes one or more cameras or image sensors disposed at avehicle and having respective fields of view exterior of the vehicle,and an image processor operable to process data transmitted by thecameras. The vision system includes a forward facing camera module(having image processing circuitry incorporated therein) and alsoinclude a rearward facing vision camera (for capturing video image datathat is displayed on a display of the vehicle for viewing by the driverof the vehicle during a reversing maneuver) and/or sideward facingcameras. The vision system may provide a variety of functions byutilizing captured image data from one or more of the cameras at thevehicle, such as a forward viewing camera, a rearward viewing camera,side viewing cameras and/or a forward viewing windshield mounted camera(having a field of view through the windshield of the vehicle). Thevision system may have a front windshield camera module that may haveimage data processing capabilities for that camera and for one or moreother cameras of the vehicle, or multiple cameras (such as a forwardviewing camera at a forward portion of the vehicle, a rearward viewingcamera, side viewing cameras, a forward viewing camera that viewsthrough a windshield of the vehicle, and optionally a night visioncamera) may feed into a common image data processing module. The visionsystem of the present invention may be operable to determine (such asvia image processing of captured image data and via a speed of thevehicle) when the vehicle is traveling in traffic, such as high volumetraffic, a traffic jam situation or the like, and a controller orcontrol system may control or autonomously drive the vehicle during suchtraffic conditions.

Optionally, when controlling the vehicle in a traffic driving condition,the system may determine when a lane splitting vehicle (such as amotorcycle or motor scooter or bicycle or other small vehicle) isdriving between lanes of traffic (commonly referred to as lanesplitting) and may control the subject vehicle accordingly. For example,when the system detects a vehicle or motorcycle approaching (such asfrom behind the vehicle or ahead of the vehicle) at the left side, thesystem may move the subject vehicle towards the right side of thesubject vehicle's lane or occupied lane and away from the lane splittingmotorcycle, while still remaining in the occupied lane. After thedetected motorcycle passes, the system may move the subject vehicle backtowards the center of the occupied lane. Also, responsive to detectionof a lane splitting motorcycle or the like, the system can limit orprevent lane change if such a lane change would result in collision withthe lane splitting motorcycle.

Optionally, when controlling the vehicle in a traffic driving condition,the system may determine when more lanes of traffic begin, such as whentwo lanes of traffic change to three or four lanes as the vehicles movecloser together to create additional lanes to enhance traffic flow.Responsive to such a determination, the system may automatically selecta leading vehicle or “lane of traffic” to follow and follow that vehicleeven if that results in the subject vehicle leaving the road lane thatit had been occupying.

Optionally, the system may be operable to detect pedestrians and mayslow or stop to allow for pedestrians to cross the road in front of thevehicle as may occur in high volume traffic situations and/or fast orslow moving traffic situations, such as in a crowded city street or thelike. For example, the control system, at least in part responsive todetection of a stationary pedestrian in the path of travel of theequipped vehicle, may be operable to stop the equipped vehicle. Also,for example, the control system, at least in part responsive todetection of a moving pedestrian in the path of travel of the equippedvehicle, may be operable to slowly move the equipped vehicle forward ata speed that allows the pedestrian time to move out of the path oftravel of the equipped vehicle.

The system thus is operable to determine the driving condition ortraffic condition of the subject vehicle and, when that determinedcondition is indicative of traffic, such as high volume traffic or slowmoving traffic or a traffic jam, the system may control the subjectvehicle to drive the subject vehicle in the traffic. The system detectsthe surrounding vehicles and determines the appropriate drivingdirection and speed for the subject vehicle to move the subject vehiclewith the traffic flow and to adapt the driving of the subject vehicle tothe surrounding vehicles and traffic flow. The system is operable todetect pedestrians and may slow or stop to allow for pedestrians tocross the road in front of the vehicle as may occur in high volumetraffic situations and/or fast or slow moving traffic situations, suchas in a crowded city street or the like. Also, the system may drive thevehicle forward slowly and carefully if all pedestrians in front of thevehicle are moving, such as in a manner that would result in thepedestrians being out of the path of travel of the vehicle when thevehicle is at the current location of the detected pedestrians, or suchas in a manner that allows the pedestrians time to move out of the pathof travel of the vehicle (allowing the pedestrian time to change theirpath by the time the vehicle arrives at their initial location).

These and other objects, advantages, purposes and features of thepresent invention will become apparent upon review of the followingspecification in conjunction with the drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a plan view of a vehicle with a vision system and imagingsensors or cameras that provide exterior fields of view and may provideinformation to the driver via a display in accordance with the presentinvention;

FIG. 2 is a flow chart of the vision system control of an equippedvehicle in accordance with the present invention, showing vehiclecontrol in a lane splitting situation;

FIG. 3 is a schematic of how the vision system controls equippedvehicles in accordance with the present invention, showing vehiclecontrol in a lane splitting situation;

FIG. 4 is a flow chart of the vision system control of an equippedvehicle in accordance with the present invention, showing vehiclecontrol in an expanding lane situation;

FIG. 5 is another schematic of how the vision system controls equippedvehicles in accordance with the present invention, showing vehiclecontrol in an expanding lane situation;

FIG. 6 is another schematic of how the vision system controls equippedvehicles in accordance with the present invention, showing vehiclecontrol in a lane merging situation when the equipped vehicle acceptsanother vehicle's attempt to merge ahead of the equipped vehicle;

FIG. 7 is another schematic of how the vision system controls equippedvehicles in accordance with the present invention, showing vehiclecontrol in a lane merging situation when the equipped vehicle rejectsanother vehicle's attempt to merge ahead of the equipped vehicle;

FIG. 8 is another schematic of how the vision system controls equippedvehicles in accordance with the present invention, showing vehiclecontrol in pedestrian situations, where the vehicle stops when anon-moving pedestrian is in the immediate path of travel of the vehicle;

FIG. 9 is another schematic of how the vision system controls equippedvehicles in accordance with the present invention, showing vehiclecontrol in pedestrian situations, where the vehicle moves slowly forwardwhen moving pedestrians are in the path of travel of the vehicle or havea trajectory which could cross the path of the vehicle;

FIG. 10 is a schematic of the functional structure of the traffic assistsystem of the present invention;

FIG. 11 is an image showing an overlay of object selection and pathplanning data for use in system analysis;

FIG. 12 is an example of the operation of the traffic assist system ofthe present invention;

FIGS. 13 and 14 are schematics of how the vision system of the presentinvention controls the equipped vehicle when another vehicle wants topull out in front of or behind the equipped vehicle, such as when theequipped vehicle is blocking or partially blocking a driveway or thelike;

FIG. 15 is a schematic of the functional principle of the lateralcontroller of the system of the present invention;

FIG. 16 is a schematic of the functional principle of the longitudinalcontroller of the system of the present invention; and

FIG. 17 is a chart showing an exemplary location of the sliding surface(a=0) and defined areas in the phase space for

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DESCRIPTION OF THE PREFERRED EMBODIMENTS

A vehicle vision system and/or driver assist system and/or objectdetection system and/or alert system and/or control system and/orautonomous vehicle control system operates to capture images exterior ofthe vehicle and may process the captured image data to display imagesand to detect objects at or near the vehicle and in the predicted pathof the vehicle, such as to assist a driver of the vehicle in maneuveringthe vehicle in a rearward direction. The vision system includes aprocessor that is operable to receive image data from the vehiclecameras and may provide a displayed image that is representative of thesubject vehicle (such as for a top down or bird's eye or surround view,such as discussed below). The vision and display system may utilizeaspects of the systems described in U.S. Pat. Nos. 7,855,755; 7,720,580and/or 7,038,577, and/or U.S. patent application Ser. No. 13/894,870,filed May 15, 2013, and/or Ser. No. 12/405,558, filed Mar. 17, 2009,which are hereby incorporated herein by reference in their entireties.The vision system may have a front windshield camera module that mayhave image data processing capabilities for that camera and for one ormore other cameras of the vehicle, or multiple cameras (such as aforward viewing camera at a forward portion of the vehicle, a rearwardviewing camera, side viewing cameras, a forward viewing camera thatviews through a windshield of the vehicle, and optionally a night visioncamera) may feed into a common image data processing module, such as byutilizing aspects of the vision systems described in U.S. patentapplication Ser. No. 13/894,870, filed May 15, 2013, which is herebyincorporated herein by reference in its entirety.

Referring now to the drawings and the illustrative embodiments depictedtherein, a vehicle 10 includes an imaging system or vision system 12that includes at least one exterior facing imaging sensor or camera(such as a wide angle camera or multiple sensors on a single camera orthe like), such as a rearward facing imaging sensor or camera 14 a (andthe system may optionally include multiple exterior facing imagingsensors or cameras, such as a forwardly facing camera 14 b at the front(or at the windshield) of the vehicle, and a sidewardly/rearwardlyfacing camera 14 c, 14 b at respective sides of the vehicle), whichcaptures images exterior of the vehicle, with the camera having a lensfor focusing images at or onto an imaging array or imaging plane orimager of the camera (FIG. 1). The vision system 12 includes a controlor processor 18 that is operable to process image data captured by thecameras and may provide displayed images at a display device 16 forviewing by the driver of the vehicle (although shown in FIG. 1 as beingpart of or incorporated in or at an interior rearview mirror assembly 20of the vehicle, the control and/or the display device may be disposedelsewhere at or in the vehicle).

The vision system may also operate in conjunction with other sensors ofthe vehicle, such as RADAR sensors or LIDAR sensors or Time-of-Flight(TOF) sensors or Ultrasonic sensors or the like. The system thus may beoperable to provide enhanced detection of objects or other vehicles ator near the subject or equipped vehicle and may determine the distanceto the objects or other vehicles and the speed and directional headingof the detected objects or other vehicles relative to the equippedvehicle.

The system of the present invention is operable to provide a driverassist or traffic jam assist function (providing lateral andlongitudinal control in pedestrian and/or traffic scenarios (low speed,controlled access road)). Optionally, the vision system of the presentinvention may provide various features, such as, for example, a fullautonomous driving function including autonomous lane change to overtakeslower cars, construction area driving and lane merges, an autonomouspull-over maneuver function in case of an incapacitated and/orunresponsive driver, an automatic trailer hookup function (which isoperable to guide the vehicle to a trailer), an automatic cruise control(ACC) automatic go in a stop and go ACC (such as for city drivingconditions/environments), an enhanced automatic emergency braking (AEB)function based on rear traffic (optionally, for example, overriding ornot braking or delaying braking if rear traffic is present), a blindspot detection function (to limit or prevent accidents during lanechange maneuvers), an onramp assist function (to predict whether theequipped vehicle can accelerate enough to merge with existing trafficbefore the end of the onramp), a low speed CMB/pedestrian function (witha wider field of view to detect pedestrians that are relevant for impactwhile driving at very low speeds (such as around 1-2 m/s or thereaboutsor more or less), a prevent running red lights function (such as bygenerating an alert and/or optionally braking the vehicle), an alert togo when a traffic light changes to green, a better lane detectionfunction in low sun or low lighting conditions (with improvedavailability of lane information such as, for example, for LKA, LDW andthe like), a trailer backup function (which is operable to automaticallysteer the vehicle based on a driver selected trajectory), an automaticparking (parallel, perpendicular) function with drive in control oflongitudinal movement, an autonomous/remote controlled parking(parallel, perpendicular) function, a traffic sign recognition (TSR)extension to height limitation signs, a parking path height detectionfunction, an AEB function during a reversing or backup maneuver, atraffic sign recognition (TSR) to set ACC speed (so as to provide aspeed limiter function or the like), a ball detection function, apedestrian impact detection function to activate a pedpro system (suchas to use a camera to replace an existing sensor or in addition toanother impact sensor), a road friction estimation function (such as fordetermining if the vehicle is traveling on snow, gravel, ice or thelike) to adjust the AEB thresholds and/or curve speed warning, a potholedepth and speed bump height estimation function for an active suspensioncontrol, a read license plate of preceding/following vehicle function(such as, for example, for Amber Alert notifications and the like), acurb detection/warning if a curb is too high to drive onto (such as ifthe vehicle is being driven towards a curb, so as to limit or preventdamage to the wheels or rims of the vehicle), an application of 3Dinformation to parking situations function, a perspective correctionfunction for a more accurate birds eye view (more realistic image), anACC function that limits or precludes acceleration of the subjectvehicle when the subject vehicle is being overtaken by another vehicle,and/or a lighting control function (such as providing an adjust lightingdecision based on knowledge or other car overtaking of driving parallelto the subject vehicle), and/or the like.

The present invention provides a vehicle vision system that is operableto provide semi-automated driving and/or hands free driving to assistthe driver in maneuvering the vehicle in traffic conditions so thedriver of the equipped vehicle can relax and not have to operate thevehicle during the typical starting/stopping/weaving driving conditionsof a traffic situation. The system of the present invention providesautonomous or semi-autonomous vehicle control in a traffic environment(such as high volume traffic conditions or traffic jam conditions or thelike), and may take control of the vehicle responsive to detection of ahigh or threshold level traffic environment, such as responsive to imageprocessing of captured image data (such as when the image processingdetermines that the equipped vehicle is generally or at least partiallysurrounded by other vehicles in a manner indicative of a trafficcondition) and the speed of the equipped vehicle. For example, thesystem may only provide such control of the vehicle when the vehicle istraveling at lower speeds, such as below about 25 kph or below about 50kph or below about 70 kph or thereabouts.

The present provides semi-autonomous driving capability utilizing theimage data captured from multiple vehicle cameras, such as five exteriorviewing cameras (such as, for example, a front mounted forward viewingcamera, a rear mounted rearward viewing camera, side mountedsideward/rearward viewing cameras and a windshield mounted forwardviewing camera or camera module). The system is operable to track lanemarkings and to position the vehicle at the road based on informationfrom the four cameras at the exterior of the vehicle, such as when thewindshield camera can no longer see the lane markings due to densetraffic, for example. As the leading vehicles ahead of the equippedvehicle come in close, it may not be possible to see twenty meters oflane markings from the windshield camera or front mounted camera, but itmay be possible to see the lane markings alongside or behind our vehicleusing the other cameras. This can be used to position the vehicle forautonomous driving.

When the lane markings are not determinable, such as in a cityenvironment, it may be possible to use other information, such asadjacent vehicles or road constructions (such as curbs or the like) todelineate the path of travel of the equipped vehicle. In cases wherelane splitting or lane sharing is allowed, the vehicle surround viewcameras may be used to identify approaching motorcycles or bicycles thatmay be traveling between lanes of traffic. When such approaching smallvehicles are detected, the vehicle may adjust its path of travel withinits occupied lane to create space for the approachingmotorcycle/bicycle.

The system of the present invention is thus operable to detect trafficbehaviors, and may control the equipped vehicle to maneuver the vehiclewith the traffic flow in a manner that provides safe travel and thatcontrols the vehicle so that the vehicle is driven in a similar manneras the other vehicles on the road, in order to enhance traffic flow. Thesystem may use any suitable processing means or protocol to determinethe traffic conditions and to detect vehicles and/or pedestrians on oroff the road being traveled by the equipped vehicle and on or off crossroads and merging roads at or near the traveled road. The system maylearn or adapt the driving or control of the vehicle (such as during thedriving or control of the vehicle or before taking control of thevehicle) responsive to the driving or maneuvering of other vehicles onthe road. The system may adapt the driving or control of the vehicleresponsive to a geographical location of the equipped vehicle to provideregional localization control, in order to adapt the autonomous controlor driving to the driving characteristics of that location or region(for example, drivers drive differently in California, Paris and Italy,where it is acceptable for motorcycles and the like to drive along lanemarkers and between lanes of traffic).

Responsive to detected vehicles and objects and pedestrians in adetermined traffic situation, the system of the present invention maycontrol the vehicle to react to a determined hazardous condition ordanger. For example, the system may move the vehicle to one side or theother, or may prevent a lane change by the driver of the vehicle, or mayprevent a door opening by an occupant of the vehicle or the like,depending on determined objects or vehicles at or near or approachingthe equipped vehicle. The system may interact with the determined othervehicles and may provide control of the vehicle motion orsteering/accelerator/brakes of the equipped vehicle, and may control aturn signal of the vehicle to interact with other vehicles and driversand systems on the road.

For example, and with reference to FIGS. 2 and 3, the vision system orcontrol system of the present invention is operable, at least when in atraffic situation, to detect a lane splitting vehicle, such as amotorcycle cutting through slow moving traffic and between vehiclestraveling along two adjacent lanes, and to control the equipped vehicleaccordingly. The system may utilize a side camera and/or a rear cameraand/or a blind spot radar sensor or the like to detect the presence orapproach of a lane splitting vehicle (such as in conjunction with a lanemarker detection so the system is aware of the lane delineations for thelane in which the equipped vehicle is travelling). As can be seen withreference to FIGS. 2 and 3, when a lane splitting vehicle 30 (FIG. 3) isdetermined to be approaching from the rear left side of the equippedvehicle 40, the control system may steer the vehicle to the right, whileremaining within the lane that the equipped vehicle occupies (in otherwords, moving the vehicle towards the right side lane marker but withoutmaking a lane change). Such movement allows for more room for the lanesplitting vehicle to pass at the left side more safely. After the lanesplitting vehicle passes, the system may control the equipped vehicle tomove back towards the center of the occupied lane, and then may travelwith the traffic flow along the occupied lane.

Optionally, the system may similarly determine when a vehicle is drivingalong a center lane (such as for example, where, such as in Russia,vehicles typically drive along center lanes in high traffic conditions),and may control the equipped vehicle accordingly. For example, thesystem may, responsive to a determination that vehicles are travelingalong the center lane (or where vehicles are queuing or travelingregardless of lane delineations), control the equipped vehicle to followthose vehicles to enhance traffic flow, even if it requires moving theequipped vehicle out of the occupied marked lane of the road. Such afunction may utilize image processing and/or data processing of outputsof various sensors, such as, for example, cameras of a surround viewsystem, a windshield mounted forward facing camera, a blind spot radaror lidar sensor or the like.

Optionally, the system may determine when vehicle travel or vehicle“lanes” are different from the lanes marked on the road, and may controlthe equipped vehicle to follow one of the leading vehicles. For example,and with reference to FIGS. 4 and 5, the control system may detect anincrease in traffic or a shift in traffic ahead of the equipped vehicle(such as when there are more lanes of vehicles than road lanes) and maydetermine which path or line of vehicles to follow. The system mayselect a faster moving line of vehicles or a particular side ordirection (such as, for example, the right side line of vehicles whenthe equipped vehicle is approaching an exit or right turn along itsselected or predetermined route), and may control or steer the vehicleto follow the vehicles of the selected line of vehicles. The system thusselects or chooses a target vehicle to follow, which may be a fastervehicle and/or may be partially occupying the road lane that theequipped vehicle is traveling, and such a selection may be based atleast partially on the intent of a vehicle adjacent to the equippedvehicle. For example, and as shown in FIG. 5, if the equipped vehicle 40selects a vehicle 50 to the left to follow, but a left side adjacentvehicle 60 is moving to follow that vehicle (or otherwise indicates thatit intends to follow that vehicle), the system may select a differentvehicle to follow or may adjust the driving to fall in behind theadjacent vehicle or the like.

In such traffic situations, the system overrides any lane departurewarning system or alert and steers the equipped vehicle outside of itsoccupied lane and may even continue to drive the vehicle along a lanemarker and thus not in any marked lane during such a traffic condition,and may even drive the vehicle partially onto or fully onto a shoulderof the road to follow the selected line of vehicles. Optionally, thesystem may also utilize a navigation system and/or pavement detection orthe like to make sure that the equipped vehicle stays on its intended orselected course or route when following vehicles outside of the roadlanes. The system may alert the driver that the vehicle or system isentering this special driving mode before entering or commencing thatmode and during the out of lane maneuvers.

When controlling the equipped vehicle in slow heavy traffic conditions,the system may determine that a better path involves a lane change, suchas to follow a faster moving line of vehicles in an adjacent lane. Thus,the system may be operable to steer the vehicle to one side or the otherto enter the adjacent lane when traffic permits. In such a situation,the system may determine when a gap between consecutive vehicles (aleading vehicle and a trailing vehicle following the leading vehiclealong the same or similar path and/or in the same lane of traffic) in anadjacent lane is sufficient to begin moving over and into the adjacentlane, and the system may steer the vehicle towards and into that gap(and may actuate the turn signal accordingly, if such turn signal use isappropriate), such as in a manner that allows the following vehiclebehind the gap to slow to allow the equipped vehicle to enter the gap.The system may be operable to determine when the other vehicles do notallow such a lane change maneuver (such as when the other vehicle doesnot slow down to allow the lane change maneuver), and may return thevehicle to its lane and try again at a later gap. The system may adjustits control or sensitivities responsive to the geographical locationand/or driving behavior of the other vehicle drivers, and may learn oradapt responsive to the current driving conditions and drivingbehaviors.

Likewise, when driving in slow heavy traffic conditions, the system maydetermine when another vehicle driver wants to cut into the lane of theequipped vehicle ahead of the equipped vehicle. Responsive to such adetermination, the system may (such as shown in FIG. 6) slow or stop theequipped vehicle 40 to allow for the other vehicle 60 to cut in, or may(such as shown in FIG. 7) move the equipped vehicle 40 to the side toreject the cut in but partially allow the other vehicle 60 to continuetraveling (where eventually the other vehicle should slow and fall inbehind the equipped vehicle), depending on the particular drivingconditions and traffic flow and traffic situation. The system may adaptor calibrate its sensitivity or processing so that, after one vehiclecuts in, the system is less tolerant of other vehicles cutting in aswell, to avoid a potential situation where the system stops the vehicleand allows a steady stream of other vehicles to cut in ahead of theequipped vehicle.

The system of the present invention may also be operable to determinethe “body language” of other drivers or vehicles to determine the intentof the driver of the other vehicle. For example, in some areas, such asin China, some drivers open the door of the vehicle to signal and/orforce merging into an adjacent lane or line of traffic. The system ofthe present invention is operable to determine such actions and controlthe vehicle accordingly (such as to slow the equipped vehicle to allowfor the cut in when it is determined that the leading or merging vehiclehas its door open). Such a determination may be made via imageprocessing of captured image data by one or more forward facing camerasof the equipped vehicle or by processing of outputs of ultrasonicsensors or the like of the equipped vehicles.

In all of the above high traffic or traffic jam situations, the systemof the present invention may be operable to determine (such as via imageprocessing of image data captured by side and/or forward facing camerasor night vision cameras, and/or outputs of radar sensors or ultrasonicsensors or lidar sensors of the equipped vehicle) the presence of one ormore pedestrians at or near the equipped vehicle and ahead of theequipped vehicle. Responsive to a determination of at least onepedestrian ahead of the vehicle, the system may adjust control ordriving of the equipped vehicle in order to ensure avoidance of anycontact with the pedestrian or pedestrians by the autonomously driven orsemi-autonomous equipped vehicle. For example, and with reference toFIGS. 8 and 9, responsive to a determination of the presence of apedestrian or pedestrians 70 ahead of the equipped vehicle 40, thesystem may stop the vehicle or maneuver the vehicle so as to exclude anyand all paths that are occupied or partially occupied by one or morestationary pedestrians. Optionally, when a stationary or non-movingpedestrian 72 (such as shown in FIG. 8), is determined to be present inthe path of travel of the vehicle 40, the system may stop the vehicle toavoid collision with the non-moving pedestrian. When moving pedestrians70 are detected (such as pedestrians crossing the road through thetraffic), such as shown in FIG. 9, the system may determine a predictedpath of the pedestrian or pedestrians and may maneuver the vehicle orslow the vehicle to make sure that the equipped vehicle avoids anyconflict or potential conflict or collision with the crossingpedestrian.

Optionally, the system may drive the vehicle forward slowly, even whenone or more pedestrians are determined to be in the path of travel ofthe vehicle (or determined to have a trajectory that will lead them intothe path of travel of the vehicle if their trajectory persists), wherebythe vehicle will continue to travel forward if the pedestrians move outof the way (the system can determine, such as responsive to detection ofmovement of the pedestrians ahead of the vehicle, that a collision witha pedestrian would not be immediate or imminent and may expect thepedestrians to walk out of the path of travel). The system thus maydrive the vehicle slowly forward at a slow constant or substantiallyconstant speed, so that the pedestrians can readily perceive theautonomous vehicle's intent and readily move out of the way of theslowly moving vehicle or change their trajectory to avoid the path ofthe slowly moving vehicle.

The present invention thus provides a system that is operable todetermine the driving condition or traffic condition of the subject orequipped vehicle and, when that determined condition is indicative of atraffic jam or high traffic volume or slow moving traffic condition orfaster moving traffic condition, the system may control the equippedvehicle (such as by controlling the brake system, the accelerator andsteering system of the vehicle) to maneuver or drive the subject vehiclein the traffic. The system detects the surrounding vehicles anddetermines the appropriate driving direction and speed for the equippedvehicle to move the equipped vehicle with the traffic flow and to adaptthe driving of the equipped vehicle to the surrounding vehicles andtraffic flow. The system is operable to detect pedestrians and may slowor stop to allow for pedestrians to cross the road in front of theequipped vehicle as may occur in traffic situations, such as in acrowded city street or the like.

Optionally, the vision system may utilize rear image processing for lanedetection. For example, the system may apply lane detection and trackingaspects from front image processing to rear images captured by one ormore rearward facing cameras of the vehicle. The system may detect thelane markings and may determine the lateral distance to a left or rightlane marking, and may control steering and/or provide an alert to thedriver responsive to the detected distance to the lane markings. Thesystem may utilize the rearward lane marking detection to provideenhanced detection of a lane splitting vehicle or motorcycle or scooter.The system thus provides increased availability of lane information tothe driver, and may warn the driver even where lane departure prevention(LDP) from the front camera may not be available, such as in lowlighting conditions or situations, traffic jams (when preceding vehiclesblock lane markings), tunnel entry and/or the like. Optionally, it isenvisioned that the rear lane detection of the present invention may beused for autonomous driving/lane keeping where high lane dataavailability is important.

Optionally, the vision system of the present invention may be operableto provide other various functions. For example, the vision system mayoperate with or be associated with an adaptive automatic emergencybraking (AEB) system of the vehicle, such that, when the subject vehicledetermines that braking is desired or appropriate, the subject vehiclemay, for example, brake earlier and/or harder, if no vehicle isfollowing (as determined by image processing of the image data capturedby the rearward facing camera), and risk of rear end collision is low,or may brake later, if the vision system determines that a vehicle isfollowing, and the risk of rear end collision is higher. Optionally, thevision system may provide improved or enhanced lane detection at lowsun/and increased availability of LDW based on detecting lanes in therear camera images. Optionally, the vision system may provide rearpedestrian detection, and may provide a warning or may brake if apedestrian is detected in the rear images, such as during a reversingmaneuver of the vehicle. Optionally, the vision system may provide arear object detection, and may provide a warning or the like if ageneral object is detected in the rear images. Optionally, the visionsystem may provide a rear cross traffic alert function, and may detector determine crossing vehicles and may be operable to alert or warn thedriver of the subject vehicle of crossing vehicles when the driver isreversing or backing up the subject vehicle. The system of the presentinvention may utilize aspects of the systems described in U.S. patentapplication Ser. No. 13/894,870, filed May 15, 2013, which is herebyincorporated herein by reference in its entirety.

The present invention may also or otherwise provide enhanced control orsemi-autonomous driving features to assist the driver of the vehicleduring high traffic conditions or situations, such as during a commuteto or from work at rush hour type traffic. Commuter mobility has beenconstantly increasing over the past decades. The number of accidentsshows the same tendency and is not decreasing significantly although newactive and passive safety features are introduced in modern vehicles.Automated driving has the potential to improve the safety and productivetime of commuters. However, many automated driving functions indevelopment are equipped with expensive sensors. For automated drivingto become affordable to the public it must be reduced in cost.

The present invention provides a limited semi-autonomous driving systemfor traffic jam situations that may operate with only a singlemono-camera sensor (although clearly the semi-autonomous driving assistsystem of the present invention may operate using multiple cameras ofthe vehicle). The assist system is focused on relieving the driver ofthe mundane task of driving in heavy traffic. It is capable of operatingin a low speed range and it does not require any additional HMI oractuation beyond what is already available in vehicles with Lane KeepAssist or Cruise Control or the like.

The present invention utilizes an algorithm that achieves a partiallyautomated driving function while providing a cost-effective hardwaresetup. The environment sensing may be performed by a monocular cameraonly and the software may work on a single ECU.

The traffic driving assist system of the present invention may decreasethe driver's workload in monotonous situations in congested traffic. Thedriver or user can activate the driver assist function in a slow trafficsituation to relieve monotony. Because the system of the presentinvention may be intended to be a comfort function for congested trafficon well-structured roads, optional preconditions for activation of thesystem may include the availability of lane markings and existence of apreceding vehicle within a certain distance. The user may activate thesystem during a traffic condition by activating a user input, such as bypressing a button or the like. After this, the driver no longer needs toprovide steering, accelerator or brake pedal input while in the trafficcondition. The driver assist function will take over the lateralguidance of the equipped vehicle and keep it generally centered in thelane. Also, the longitudinal behavior is controlled by the system tofollow the closest target vehicle in the same lane (Same Lane Target),maintaining an appropriate amount of distance or gap between the targetvehicle and the equipped vehicle. If the target vehicle stops then theequipped vehicle will come to a stop close behind the target vehicle andwill resume driving if the target vehicle then continues, all withoutany further input needed from the driver of the equipped vehicle.

The system user may still be responsible for the vehicle and its motion.Thus, while the vehicle driving is automated, the driver may monitor thesystem and can intervene if necessary. Also, the driver may override thesystem (such as by taking control of the steering or acceleration) atany time.

If the automated operation of the system falls outside of itsoperational bounds or is becoming unsafe (such as, for example, if thetarget vehicle is no longer tracked ahead of the equipped vehicle), thesystem may be operable to warn the driver and request driver takeover ofthe vehicle. The system may continue to control the vehicle in thesafest manner possible with limited information until the driver takesover control of the vehicle. This provides time for a possiblyinattentive driver to react to the system request or alert. If thedriver does not act within a certain amount of time following thewarning or alert, the system may disengage or enter a safe state andgently slow the vehicle to a stop.

The system requirements and operational parameters may be derived froman analysis of traffic jam data collected with human drivers. Forexample, the velocity range in which the system may operate may bedefined to allow automated driving in most traffic jam scenarios, suchas at speeds below about 70 km/hr (data has shown that 99 percent of thetraffic jam driving speed range is below 70 km/hr). Thus, in order tocover these situations and also to accommodate urban speed limits in theU.S., the maximum speed at which the system may control the vehicle maybe set to about 72 km/hr (or about 45 mph).

Traffic data shows that acceleration values occurring in congestedtraffic are mostly below about 1.5 m/s², so the limit of the system maybe set to this value, especially to allow quick starting afterstandstill without opening a large gap to the preceding vehicle. Fordeceleration in regular driving situations, a threshold of about −1.3m/s² is reasonable, since most of the situations can be handled withinthis range. The global minimum of the allowed deceleration was set to 4m/s² to also enable the system to react to more critical situations,such as, for example, close cut-in maneuvers or the like. More criticalscenarios can be handled by designated safety functions with higherdeceleration (such as an Automatic Emergency Braking (AEB), which may bebased on the same camera system, and which may be implemented as abackup system to take control if the driving situation encountered israted too critical for the traffic assist system).

Because the system is at first intended for motorway use, the radius ofthe driven trajectory can be assumed to contain no sharp bends.Therefore, a minimum radius of curvature of the road trajectory may bedefined to be, for example, about 180 m. The maximum duration of systemoperation without any driver interaction may be restricted in order toinsure that the driver's attention will not drift and that he or she isstill alert. This time period may be set to, for example, about 120seconds before a driver reaction is actually requested by the system.

To ensure the compatibility of the system to a variety of differentvehicles, the global structure of the architecture allows formodularity. The same code can therefore be used in different setups orvehicles.

The functional structure of the system of the present invention is shownin FIG. 10. The Path Planning module calculates the desired behaviorbased on the sensor data. First, the Target Object Selection moduleextracts and flags the traffic objects which are relevant for thedecision. Afterwards, the actual longitudinal and lateral pathing isdefined. Based on the condition of the vehicle and the targeted pathdata, the global system status is determined within a state machine.This status determines if the system is enabled and the function isready to be activated. Because the lateral and longitudinal guidance canbe active at the same time or independently there, are states for allthree possibilities. Additionally, a Safe Mode state may be implementedfor the case that a safe operation cannot be guaranteed, such as, forexample, when there is an extended period of driver unresponsiveness.

To adapt the controller characteristics to the particular drivingsituation, such as, for example, slow constant following, the situationis classified based on environmental, ego-vehicle or subject vehicle orequipped vehicle and path planning data. Class parameters are adaptedaccording to the detected situation. Because the vehicle dynamics inboth lateral and longitudinal dimensions are highly dependent on theactual velocity of the vehicle, the control parameters are alsocontinuously adjusted in relation to the SV's current speed. The twocontrollers for longitudinal and lateral guidance generate the actualcontrol signals that are sent to the vehicle interface. The lateralcontroller is implemented as a state controller and the longitudinalguidance is implemented as a sliding-mode controller.

The task of the Path Planning module is to take into account theenvironmental information provided by sensor perception and generate thetrajectory. The preceding vehicle in the same lane (the Same Lane Targetor SALT) usually has the most significant influence on the longitudinaltrajectory. If calibrated to prevent overtaking on the right, which isillegal in many states, the closest target in the left adjoining lane(LALT) is also relevant if it is closer and moving more slowly than theSALT. The selection of all these relevant targets and calculation oftheir trajectories is the task of the Target Object Selection. Anexample for tagged objects is shown in FIG. 11. Also, some of thecalculated output of the Path Planning module can be seen at the lowerregion of FIG. 11.

To determine the particular lane, in which the detected vehicle islocated, the lane position is extrapolated based on the approximation:y _(tgt) =y _(lane) +r _(lane) −x _(tgt)+½·K _(lane) −x _(tgt) ²  Eq. 1where y_(tgt) is the lateral position of the lane marking at thelongitudinal position

${x_{tgt}\; v_{tgt}} \leq \frac{x_{{stop},\max}}{v_{tgt}}$of the target, y_(lane) is the relative heading angle between SV and thelane and K_(lane) is the curvature of the lane. The input valuesdescribing the lane and objects are provided by the camera sensor andthen recalculated by Path Planning.

In a situation where the left lane target vehicle (LALT) or right lanetarget vehicle (RALT) is determined to be uncomfortably close to thelane markings, then the path may be adapted to increase lateralseparation. If only a single marking can be successfully tracked thenthe detected lane's information is mirrored for a certain time periodunder the assumption that the width of the lane is not changing quickly.After this duration, the virtual lane width is slowly reduced to aminimum to allow lateral guidance as long as possible. In the event thatno lane markings are available or the distance to the SALT is small at alow velocity, the lateral path is based on the track of the SALT.

The fundamental longitudinal trajectory calculates the necessary targetdistance x_(follow) and relative velocity to the SALT to maintainheadway t_(h) x=[{dot over (ψ)}, β, δ, r, dy]^(T) {dot over (ψ)},according to:x _(follow) =t _(h) ·v _(tgt)  Eq. 2where v_(tgt) is the target vehicle's longitudinal velocity.

The analysis of traffic jam data has revealed that human drivers tend tomaintain a headway time from up to 2 seconds. While it varies by stateand country, law may specify a following time of 2 seconds as well.Thus, the headway time is set to t_(h)=2 s. An additional benefit ofthis setting has been observed while driving in real traffic. Thespacious gap size between the SV and the preceding vehicle may result incut-in maneuvers of other road users to not be too close. The functioncan more easily handle this critical situation with an extra distance tothe cut-in vehicle.

The system is designed to stop the SV behind a stationary vehicle at thestopping distance x_(follow)≥x_(stop,min)=4 m y. For comfort and safety,the value also has some safety distance added, compared to human driverswho stop at a distance of about 2.5 m on average.

A Slow Mode condition has been implemented to treat the low speedapproach to a slow moving preceding vehicle. It is triggered if:

$\begin{matrix}{v_{tgt} \leq \frac{x_{{stop},\max}}{t_{k}}} & {{Eq}.\mspace{14mu} 3}\end{matrix}$In this case x_(follow) is set to x_(stop, max)=6 m to allow slowapproaching and adaptation of the controller characteristic. As soon asthe lead vehicle has stopped Stop Mode becomes active(x_(follow)=x_(stop,min)) and a smooth stop of the SV can be initiatedby the controller.

Because availability and viewability and discernibility of lane markingsis important for robust and accurate lateral guidance, the longitudinalPath Planning accounts for lane visibility. Hence, if the system is notin Slow Mode, the minimum targeted distance to the SALT is set tox_(stop)=10 m to guarantee visibility even for obscured or intermittentmarkings on motorways.

As a safe response to vehicles which are cutting in or drivinghazardously, vehicles that are detected to be partially in or near theSV's lane are immediately treated as the new SALT object. An example forthis approach is visualized in FIG. 12.

Several methods are used to detect and respond to a close cut insituation. Before an effective tracking of this vehicle is possible, thesystem may generate an alert or warning flag, issued by the imageprocessor, to report a close cut-in. When this alert is provided, thecontroller responds by commanding a gentle deceleration as a firstreaction. Once the new SALT is identified, the step in the measureddistance to the relevant target x_(tgt) (such as at 36 seconds) revealsthe first tracking of the merging vehicle. As soon as the trackingallows an appropriate adjustment of the gap, the full deceleration issent to the interface. In spite of the critical cut-in at about 4.5 m infront of the SV, uncomfortable jerks in the actual acceleration α_(act)can be avoided while the situation is resolved by the function.

One principal situation, which the system has to deal with, is thehandling of stop-and-go traffic. When a preceding vehicle comes to ahalt, the SV slowly approaches the stopped vehicle with a low, nearlyconstant velocity. When having reached about x_(tgt)=6 m, decelerationis commanded to smoothly stop the vehicle. When the preceding vehiclestarts again a quick response is crucial. After the leading or targetvehicle starts to move and reaches the distance threshold (x_(tgt)=4.5m), the SV starts within 0.5 s. This ensures an immediate followingwithout opening a substantial distance gap greater than the desiredheadway.

After the target trajectory is available, the lateral and longitudinalcontrollers' task is to output the particular commands to the vehicleinterfaces. Lateral and longitudinal guidance are intended to also beworking separately. Thus, two parallel controllers are preferred to anintegrated concept.

Based on the desired trajectory and the SV state, the driving situationis classified. This allows an adaptation of the characteristics of thecontroller to provide a comfortable and safe vehicle motion without anyhigh acceleration or jerk in either dimension.

Optionally, the vision system of the present invention may be operableto detect when the subject vehicle or equipped vehicle is not moving ormoving slowly and is blocking a driveway or intersection and there isanother vehicle that is trying to pull out into the lane occupied by thesubject vehicle. Depending on the location of the other vehicle relativeto the equipped vehicle, the system may stop the subject vehicle toallow the other vehicle to pull into the lane ahead of the subjectvehicle or the system may move the subject vehicle forward to allowsufficient space behind the subject vehicle for the other vehicle to atleast partially pull out into the lane behind the subject vehicle. Forexample, and as shown in FIG. 13, if the other vehicle 80 is near thefront of the subject vehicle 40, such as forward of the front axle ofthe subject vehicle, then the system may apply the vehicle brakes tohold the vehicle's position to allow the other vehicle to pull into thelane of traffic ahead of the subject vehicle. Optionally, in such asituation, the system may also flash the head lights or honk the horn orprovide some other signal to indicate to the driver of the other vehiclethat they can proceed ahead of the subject vehicle.

Also, for example, and as shown in FIG. 14, if the other vehicle 80 isnear the rear of the subject vehicle 40, the system may control thevehicle brakes and accelerator to creep forward to allow for the othervehicle 80 to pull into the lane of traffic behind the subject vehicle.In such slow moving traffic conditions, the system may provide a restingdistance or gap between a leading vehicle, such as about five meters orthereabouts, so creeping forward a little would take up some of theresting distance or gap, while still spacing the subject vehicle fromthe vehicle ahead of the subject vehicle. For example, if the systemleaves about five meters between the subject vehicle and the leadingvehicle in slow moving traffic conditions, the system may allow thesubject vehicle to creep forward about 2.5 meters or thereabouts (eventhough the leading vehicle has not moved forward or has moved forwardless than that amount), which would allow sufficient room for the othervehicle to pull into or at least start to pull into the lane behind thecrept forward subject vehicle (while still leaving a safe gap betweenthe subject vehicle and the leading vehicle). It would then be up to thevehicle initially behind the subject vehicle to stay put and allow theother vehicle to pull into the lane ahead of them.

Optionally, the system of the present invention, when the subjectvehicle is in the trailing vehicle position (where a leading vehicle 82(FIG. 13) creeps forward to make room for another vehicle to pull inbehind the leading vehicle), the system may determine when the leadingvehicle creeps forward and may apply the brakes so as to not follow theforward movement, so that the other vehicle has sufficient room to pullinto the lane ahead of the subject vehicle.

Lateral Control:

For lateral guidance, good results can be achieved with a state spacecontroller. The system of the present invention controls lateralmovement in this way, and its functional structure can be seen in FIG.15.

The concept is based on a state space representation of the controlledsystem. Herein, the state of the system is expressed by a vector ofquantities, which are significant for the dynamic behavior of thesystem. In this case an expansion of the linear bicycle model leads to a5-element state vector:x=[{dot over (ψ)},β,δ,r,dy] ^(T)  Eq. 4consisting of yaw rate {dot over (ψ)}, slip angle β, front wheelsteering angle δ, heading angle between SV and trajectory r and lateraldeviation from trajectory y. The basic idea is to control each quantityseparately with a proportional controller and by this apply the desiredstable dynamic behavior to the closed loop.

The avoidance of stationary errors in the lateral deviation from thetarget trajectory is achieved by an additional parallel integral partfor this entity.

Following the lateral trajectory requires a certain reference value forevery state. The reference values are calculated as a vector x _(ref) inthe Reference Input module. The current state x _(act), based onmeasurements and estimations, is gathered in the State Observer, closingthe feedback loop.

The curvature of the trajectory can be modeled as an externaldisturbance. This can be reduced or eliminated by a feed forwardcontroller based on geometrical calculations, which adding the steeringangle δ_(z) to compensate. Other measurable disturbances, such as, forexample, the road bank angle, may also be eliminated in this manner.

The Situation Adaptation is represented by the Parameter Schedulingmodule, which in every time step delivers a tuned parameter set K. Thisset is taking into account the situation and in particular the currentvelocity.

Longitudinal Control:

The longitudinal controller of the traffic assist system may beimplemented as a derivation of a sliding mode controller (SMC). Thesystem's dynamic state with respect to the target is describe in a phasespace spanned by the distance x and its derivative {dot over (x)}, whichcan be measured as the relative velocity. Within this space, the desireddynamic behavior while reaching a target point (in this casex=x_(follow), {dot over (x)}=0) is described by a 2-dimensional function(referred as the sliding surface). The location of the current dynamicstate in relation to this function determines the acceleration output.These commands are fed into the engine controller (see FIG. 16).

The feed forward controller can take into account external disturbancessuch as the road slope or wind forces. Furthermore, the measuredacceleration of the relevant target can be compensated.

In a classic SMC, the output may be switched between the minimum andmaximum acceleration. This leads to an uncomfortable behavior in a realsystem, because the actuators are not working infinitely fast (referredas “chattering”). Thus, linear transitions based on the distance of thecurrent state (i.e. point in phase space) in relation to the slidingsurface may be implemented to achieve a continuous output. Specificareas, where, for example, the maximum acceleration is applied, aredefined by additional surfaces in the phase space as depicted in FIG.17.

The parameters defining the shape and position of the surfaces may beadapted by the Situation Adaptation module, especially to make low-speeddriving more comfortable. This virtually adds a third dimension to thephase space.

The use of this adapted SMC allows an intuitive specification andparameterization of the longitudinal behavior of the SV. The identicalcontroller can be used for implementation in different vehicles byadapting the subsidiary engine controller to the vehiclecharacteristics.

Unlike a cruise control, a number of factors must be present before thetraffic assist system of the present invention can safely activate.Optionally, the system may include an adaptive cruise control (ACC) typeof interface. Optionally, for situations when the system does notactivate when the driver selects the system, an indicator may beprovided with symbols or indicia to indicate to the driver what ispreventing the system from operating. For example, if the target vehicleis not detected, the system may highlight a figure of a leading car inyellow. To reduce confusion about the system state and warnings withoutdiverting too much attention from the road, audible or voice alerts maybe provided. For example, the activation of the system may be confirmedby the spoken message “Automated Drive Active”.

When the system of the present invention is in use, there is apossibility that the increasing degree of automation may cause thedriver's alertness and attention to drift more quickly. To keep thedriver alert and “in the loop”, precautions may be taken. Optionally, ifthe system does not detect any driver interaction for a certain periodof time, the system may request a certain driver reaction, such as, forexample, pulling an ACC lever or input, which may correspond to are-activation of the traffic driving assist function. The driver mayperform this action at any time within the period to reset the timecounter. If the driver does not perform the required input within thetime period following the request or alert, the demand for this reactionmay be achieved by a low priority warning with a text or iconistic oraudible message for the driver. If no reaction of the driver is stilldetected, the system may request the driver to take over the guidanceand otherwise will transition into a Safe Mode and slow the vehicle to astop.

Therefore, the present invention provides a traffic jam assist functionusing a mono-camera as the principle sensor. With a low cost sensor, thesystem can provide improved driving conditions for many commuters.Optionally, the system may include integrating a detection and responseto traffic signs and traffic lights and other road features to allowcompliance with traffic rules while driving automated are to beintegrated. Automated lane changes may be provided on basis of low costsensor fusion and environmental modeling. These features, complimentedby increased confidence in the system, will allow the system tooptionally operate at higher speeds and to operate without anothervehicle to follow.

Optionally, the present invention may be operable to determine if avehicle ahead of the subject vehicle changes course as it travelsthrough a “blind” intersection, whereby the system may determine thatsuch a change in course is indicative of a lane shift or an object aheadof the subject vehicle. There are many intersections that are crested.In some cases, it is because one road used to be the through-way whilethe other had to stop (and now there is a traffic light) or it might bedue to coming up a hill and crossing a road that rides along the ridge(such as with some streets of San Francisco).

In such intersections, it can be difficult to determine where vehicle issupposed to travel on the other side of the intersection. If the vehiclemoves very slowly through the intersection, the vehicle will crest theintersection and the driver can see where he or she is supposed to steerthe vehicle. If the driver lives in the area, he or she might know thatthe other side of the intersection splits into 2 lanes, or jogs a littleto one side to make room for a left turn lane on the other side or thelike. However, if the driver is unfamiliar and travelling at postedspeeds through the intersection, it may be a bit of a surprise to findout the lane has shifted.

One of the biggest clues is the vehicle traveling ahead of the equippedor subject vehicle. If the leading vehicle crosses the intersection andmoves to one side, the system (via processing of data captured by theforward facing camera or sensor) can use this information as a clue forthe self-guided vehicle (in the absence of onboard maps that may showhow the road changes at the intersection). The system, responsive to adetermination of a shift by the leading vehicle, is operable to adjustthe course for the subject vehicle as it crosses the intersection, andmay then further adjust the course as the view unfolds as the vehiclecontinues across the intersection.

The camera or sensor may comprise any suitable camera or sensor.Optionally, the camera may comprise a “smart camera” that includes theimaging sensor array and associated circuitry and image processingcircuitry and electrical connectors and the like as part of a cameramodule, such as by utilizing aspects of the vision systems described inInternational Publication Nos. WO 2013/081984 and/or WO 2013/081985,which are hereby incorporated herein by reference in their entireties.

The system includes an image processor operable to process image datacaptured by the camera or cameras, such as for detecting objects orother vehicles or pedestrians or the like in the field of view of one ormore of the cameras. For example, the image processor may comprise anEyeQ2 or EyeQ3 image processing chip available from Mobileye VisionTechnologies Ltd. of Jerusalem, Israel, and may include object detectionsoftware (such as the types described in U.S. Pat. Nos. 7,855,755;7,720,580 and/or 7,038,577, which are hereby incorporated herein byreference in their entireties), and may analyze image data to detectvehicles and/or other objects. Responsive to such image processing, andwhen an object or other vehicle is detected, the system may generate analert to the driver of the vehicle and/or may generate an overlay at thedisplayed image to highlight or enhance display of the detected objector vehicle, in order to enhance the driver's awareness of the detectedobject or vehicle or hazardous condition during a driving maneuver ofthe equipped vehicle.

The vehicle may include any type of sensor or sensors, such as imagingsensors or radar sensors or lidar sensors or ladar sensors or ultrasonicsensors or the like. The imaging sensor or camera may capture image datafor image processing and may comprise any suitable camera or sensingdevice, such as, for example, a two dimensional array of a plurality ofphotosensor elements arranged in at least 640 columns and 480 rows (atleast a 640×480 imaging array, such as a megapixel imaging array or thelike), with a respective lens focusing images onto respective portionsof the array. The photosensor array may comprise a plurality ofphotosensor elements arranged in a photosensor array having rows andcolumns. Preferably, the imaging array has at least 300,000 photosensorelements or pixels, more preferably at least 500,000 photosensorelements or pixels and more preferably at least 1 million photosensorelements or pixels. The imaging array may capture color image data, suchas via spectral filtering at the array, such as via an RGB (red, greenand blue) filter or via a red/red complement filter or such as via anRCC (red, clear, clear) filter or the like. The logic and controlcircuit of the imaging sensor may function in any known manner, and theimage processing and algorithmic processing may comprise any suitablemeans for processing the images and/or image data.

For example, the vision system and/or processing and/or camera and/orcircuitry may utilize aspects described in U.S. Pat. Nos. 7,005,974;5,760,962; 5,877,897; 5,796,094; 5,949,331; 6,222,447; 6,302,545;6,396,397; 6,498,620; 6,523,964; 6,611,202; 6,201,642; 6,690,268;6,717,610; 6,757,109; 6,802,617; 6,806,452; 6,822,563; 6,891,563;6,946,978; 7,859,565; 5,550,677; 5,670,935; 6,636,258; 7,145,519;7,161,616; 7,230,640; 7,248,283; 7,295,229; 7,301,466; 7,592,928;7,881,496; 7,720,580; 7,038,577; 6,882,287; 5,929,786 and/or 5,786,772,and/or International Publication Nos. WO 2011/028686; WO 2010/099416; WO2012/061567; WO 2012/068331; WO 2012/075250; WO 2012/103193; WO2012/0116043; WO 2012/0145313; WO 2012/0145501; WO 2012/145818; WO2012/145822; WO 2012/158167; WO 2012/075250; WO 2012/0116043; WO2012/0145501; WO 2012/154919; WO 2013/019707; WO 2013/016409; WO2013/019795; WO 2013/067083; WO 2013/070539; WO 2013/043661; WO2013/048994; WO 2013/063014, WO 2013/081984; WO 2013/081985; WO2013/074604; WO 2013/086249; WO 2013/103548; WO 2013/109869; WO2013/123161; WO 2013/126715; WO 2013/043661 and/or WO 2013/158592 and/orPCT Application No. PCT/US2014/042229, filed Jun. 13, 2014, and/or U.S.patent application Ser. No. 14/524,203, filed Oct. 27, 2014; Ser. No.14/519,469, filed Oct. 21, 2014; Ser. No. 14/391,841, filed Oct. 10,2014; Ser. No. 14/489,659, filed Sep. 18, 2014; Ser. No. 14/446,099,filed Aug. 22, 2014; Ser. No. 14/377,940, filed Aug. 11, 2014; Ser. No.14/377,939, filed Aug. 11, 2014; Ser. No. 14/456,164, filed Aug. 11,2014; Ser. 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No. 14/071,086, filed Nov. 4,2013; Ser. No. 14/076,524, filed Nov. 11, 2013; Ser. No. 14/052,945,filed Oct. 14, 2013; Ser. No. 14/046,174, filed Oct. 4, 2013; Ser. No.14/036,723, filed Sep. 25, 2013; Ser. No. 14/016,790, filed Sep. 3,2013; Ser. No. 14/001,272, filed Aug. 23, 2013; Ser. No. 13/970,868,filed Aug. 20, 2013; Ser. No. 13/964,134, filed Aug. 12, 2013; Ser. No.13/942,758, filed Jul. 16, 2013; Ser. No. 13/942,753, filed Jul. 16,2013; Ser. No. 13/927,680, filed Jun. 26, 2013; Ser. No. 13/916,051,filed Jun. 12, 2013; Ser. No. 13/894,870, filed May 15, 2013; Ser. No.13/887,724, filed May 6, 2013; Ser. No. 13/852,190, filed Mar. 28, 2013;Ser. No. 13/851,378, filed Mar. 27, 2013; Ser. No. 13/848,796, filedMar. 22, 2012; Ser. No. 13/847,815, filed Mar. 20, 2013; Ser. No.13/800,697, filed Mar. 13, 2013; Ser. No. 13/785,099, filed Mar. 5,2013; Ser. No. 13/779,881, filed Feb. 28, 2013; Ser. No. 13/774,317,filed Feb. 22, 2013; Ser. No. 13/774,315, filed Feb. 22, 2013; Ser. No.13/681,963, filed Nov. 20, 2012; Ser. No. 13/660,306, filed Oct. 25,2012; Ser. No. 13/653,577, filed Oct. 17, 2012; and/or Ser. No.13/534,657, filed Jun. 27, 2012, which are all hereby incorporatedherein by reference in their entireties. The system may communicate withother communication systems via any suitable means, such as by utilizingaspects of the systems described in International Publication Nos.WO/2010/144900; WO 2013/043661 and/or WO 2013/081985, and/or U.S. patentapplication Ser. No. 13/202,005, filed Aug. 17, 2011, which are herebyincorporated herein by reference in their entireties.

The imaging device and control and image processor and any associatedillumination source, if applicable, may comprise any suitablecomponents, and may utilize aspects of the cameras and vision systemsdescribed in U.S. Pat. Nos. 5,550,677; 5,877,897; 6,498,620; 5,670,935;5,796,094; 6,396,397; 6,806,452; 6,690,268; 7,005,974; 7,937,667;7,123,168; 7,004,606; 6,946,978; 7,038,577; 6,353,392; 6,320,176;6,313,454 and/or 6,824,281, and/or International Publication Nos. WO2010/099416; WO 2011/028686 and/or WO 2013/016409, and/or U.S. Pat.Publication No. US 2010-0020170, and/or U.S. patent application Ser. No.13/534,657, filed Jun. 27, 2012, which are all hereby incorporatedherein by reference in their entireties. The camera or cameras maycomprise any suitable cameras or imaging sensors or camera modules, andmay utilize aspects of the cameras or sensors described in U.S.Publication No. US-2009-0244361 and/or U.S. Pat. Nos. 8,542,451;7,965,336 and/or 7,480,149, which are hereby incorporated herein byreference in their entireties. The imaging array sensor may comprise anysuitable sensor, and may utilize various imaging sensors or imagingarray sensors or cameras or the like, such as a CMOS imaging arraysensor, a CCD sensor or other sensors or the like, such as the typesdescribed in U.S. Pat. Nos. 5,550,677; 5,670,935; 5,760,962; 5,715,093;5,877,897; 6,922,292; 6,757,109; 6,717,610; 6,590,719; 6,201,642;6,498,620; 5,796,094; 6,097,023; 6,320,176; 6,559,435; 6,831,261;6,806,452; 6,396,397; 6,822,563; 6,946,978; 7,339,149; 7,038,577;7,004,606; 7,720,580 and/or 7,965,336, and/or International PublicationNos. WO/2009/036176 and/or WO/2009/046268, which are all herebyincorporated herein by reference in their entireties.

The camera module and circuit chip or board and imaging sensor may beimplemented and operated in connection with various vehicularvision-based systems, and/or may be operable utilizing the principles ofsuch other vehicular systems, such as a vehicle headlamp control system,such as the type disclosed in U.S. Pat. Nos. 5,796,094; 6,097,023;6,320,176; 6,559,435; 6,831,261; 7,004,606; 7,339,149 and/or 7,526,103,which are all hereby incorporated herein by reference in theirentireties, a rain sensor, such as the types disclosed in commonlyassigned U.S. Pat. Nos. 6,353,392; 6,313,454; 6,320,176 and/or7,480,149, which are hereby incorporated herein by reference in theirentireties, a vehicle vision system, such as a forwardly, sidewardly orrearwardly directed vehicle vision system utilizing principles disclosedin U.S. Pat. Nos. 5,550,677; 5,670,935; 5,760,962; 5,877,897; 5,949,331;6,222,447; 6,302,545; 6,396,397; 6,498,620; 6,523,964; 6,611,202;6,201,642; 6,690,268; 6,717,610; 6,757,109; 6,802,617; 6,806,452;6,822,563; 6,891,563; 6,946,978 and/or 7,859,565, which are all herebyincorporated herein by reference in their entireties, a trailer hitchingaid or tow check system, such as the type disclosed in U.S. Pat. No.7,005,974, which is hereby incorporated herein by reference in itsentirety, a reverse or sideward imaging system, such as for a lanechange assistance system or lane departure warning system or for a blindspot or object detection system, such as imaging or detection systems ofthe types disclosed in U.S. Pat. Nos. 7,881,496; 7,720,580; 7,038,577;5,929,786 and/or 5,786,772, which are hereby incorporated herein byreference in their entireties, a video device for internal cabinsurveillance and/or video telephone function, such as disclosed in U.S.Pat. Nos. 5,760,962; 5,877,897; 6,690,268 and/or 7,370,983, and/or U.S.patent application Ser. No. 10/538,724, filed Jun. 13, 2005 andpublished Mar. 9, 2006 as U.S. Publication No. US-2006-0050018, whichare hereby incorporated herein by reference in their entireties, atraffic sign recognition system, a system for determining a distance toa leading or trailing vehicle or object, such as a system utilizing theprinciples disclosed in U.S. Pat. Nos. 6,396,397 and/or 7,123,168, whichare hereby incorporated herein by reference in their entireties, and/orthe like.

Optionally, the circuit board or chip may include circuitry for theimaging array sensor and or other electronic accessories or features,such as by utilizing compass-on-a-chip or EC driver-on-a-chip technologyand aspects such as described in U.S. Pat. Nos. 7,255,451 and/or7,480,149 and/or U.S. Publication No. US-2006-0061008 and/or U.S. patentapplication Ser. No. 12/578,732, filed Oct. 14, 2009, which are herebyincorporated herein by reference in their entireties.

Optionally, the vision system may include a display for displayingimages captured by one or more of the imaging sensors for viewing by thedriver of the vehicle while the driver is normally operating thevehicle. Optionally, for example, the vision system may include a videodisplay device disposed at or in the interior rearview mirror assemblyof the vehicle, such as by utilizing aspects of the video mirror displaysystems described in U.S. Pat. No. 6,690,268 and/or U.S. patentapplication Ser. No. 13/333,337, filed Dec. 21, 2011, which are herebyincorporated herein by reference in their entireties. The video mirrordisplay may comprise any suitable devices and systems and optionally mayutilize aspects of the compass display systems described in U.S. Pat.Nos. 7,370,983; 7,329,013; 7,308,341; 7,289,037; 7,249,860; 7,004,593;4,546,551; 5,699,044; 4,953,305; 5,576,687; 5,632,092; 5,677,851;5,708,410; 5,737,226; 5,802,727; 5,878,370; 6,087,953; 6,173,508;6,222,460; 6,513,252 and/or 6,642,851, and/or European patentapplication, published Oct. 11, 2000 under Publication No. EP 0 1043566,and/or U.S. Publication No. US-2006-0061008, which are all herebyincorporated herein by reference in their entireties. Optionally, thevideo mirror display screen or device may be operable to display imagescaptured by a rearward viewing camera of the vehicle during a reversingmaneuver of the vehicle (such as responsive to the vehicle gear actuatorbeing placed in a reverse gear position or the like) to assist thedriver in backing up the vehicle, and optionally may be operable todisplay the compass heading or directional heading character or iconwhen the vehicle is not undertaking a reversing maneuver, such as whenthe vehicle is being driven in a forward direction along a road (such asby utilizing aspects of the display system described in InternationalPublication No. WO 2012/051500, which is hereby incorporated herein byreference in its entirety).

Optionally, the vision system (utilizing the forward facing camera and arearward facing camera and other cameras disposed at the vehicle withexterior fields of view) may be part of or may provide a display of atop-down view or birds-eye view system of the vehicle or a surround viewat the vehicle, such as by utilizing aspects of the vision systemsdescribed in International Publication Nos. WO 2010/099416; WO2011/028686; WO 2012/075250; WO 2013/019795; WO 2012/075250; WO2012/145822; WO 2013/081985; WO 2013/086249 and/or WO 2013/109869, whichare hereby incorporated herein by reference in their entireties.

Optionally, a video mirror display may be disposed rearward of andbehind the reflective element assembly and may comprise a display suchas the types disclosed in U.S. Pat. Nos. 5,530,240; 6,329,925;7,855,755; 7,626,749; 7,581,859; 7,446,650; 7,370,983; 7,338,177;7,274,501; 7,255,451; 7,195,381; 7,184,190; 5,668,663; 5,724,187 and/or6,690,268, and/or in U.S. Publication Nos. US-2006-0061008 and/orUS-2006-0050018, which are all hereby incorporated herein by referencein their entireties. The display is viewable through the reflectiveelement when the display is activated to display information. Thedisplay element may be any type of display element, such as a vacuumfluorescent (VF) display element, a light emitting diode (LED) displayelement, such as an organic light emitting diode (OLED) or an inorganiclight emitting diode, an electroluminescent (EL) display element, aliquid crystal display (LCD) element, a video screen display element orbacklit thin film transistor (TFT) display element or the like, and maybe operable to display various information (as discrete characters,icons or the like, or in a multi-pixel manner) to the driver of thevehicle, such as passenger side inflatable restraint (PSIR) information,tire pressure status, and/or the like. The mirror assembly and/ordisplay may utilize aspects described in U.S. Pat. Nos. 7,184,190;7,255,451; 7,446,924 and/or 7,338,177, which are all hereby incorporatedherein by reference in their entireties. The thicknesses and materialsof the coatings on the substrates of the reflective element may beselected to provide a desired color or tint to the mirror reflectiveelement, such as a blue colored reflector, such as is known in the artand such as described in U.S. Pat. Nos. 5,910,854; 6,420,036 and/or7,274,501, which are hereby incorporated herein by reference in theirentireties.

Optionally, the display or displays and any associated user inputs maybe associated with various accessories or systems, such as, for example,a tire pressure monitoring system or a passenger air bag status or agarage door opening system or a telematics system or any other accessoryor system of the mirror assembly or of the vehicle or of an accessorymodule or console of the vehicle, such as an accessory module or consoleof the types described in U.S. Pat. Nos. 7,289,037; 6,877,888;6,824,281; 6,690,268; 6,672,744; 6,386,742 and/or 6,124,886, and/or U.S.Publication No. US-2006-0050018, which are hereby incorporated herein byreference in their entireties.

Changes and modifications to the specifically described embodiments maybe carried out without departing from the principles of the presentinvention, which is intended to be limited only by the scope of theappended claims as interpreted according to the principles of patentlaw.

The invention claimed is:
 1. A control system for a vehicle, saidcontrol system comprising: a camera disposed at a vehicle equipped withsaid control system, said camera having a field of view exterior of theequipped vehicle; an image processor operable to process image datacaptured by said camera; wherein said image processor is operable toprocess captured image data to detect at least one of (i) an object inthe field of view of said camera and (ii) another vehicle in the fieldof view of said camera; wherein said control system is operable todetermine a traffic condition that the equipped vehicle is traveling inand wherein, responsive to determination of the traffic condition, saidcontrol system is operable to control a steering system of the equippedvehicle; wherein, responsive at least in part to image processing ofcaptured image data by said image processor, said control system isoperable to detect a lane splitting vehicle approaching or adjacent tothe equipped vehicle; wherein, with the equipped vehicle traveling in atraffic lane occupied by the equipped vehicle and responsive todetection, via image processing of captured image data by said imageprocessor, of the lane splitting vehicle approaching or adjacent theequipped vehicle, said control system controls the steering system ofthe equipped vehicle to move the equipped vehicle in a direction awayfrom a side region of the occupied traffic lane at which the lanesplitting vehicle is detected while keeping the equipped vehicle in theoccupied traffic lane; wherein, after moving the equipped vehicle in thedirection away from the side region of the occupied traffic lane atwhich the lane splitting vehicle is detected, and responsive todetermination, via image processing by said image processor of capturedimage data, that the lane splitting vehicle has passed the equippedvehicle, said control system controls the steering system of theequipped vehicle to move the equipped vehicle back towards a centerregion of the occupied traffic lane; wherein said control system, atleast in part responsive to detection of a moving pedestrian in the pathof travel of the equipped vehicle, reduces the forward speed of theequipped vehicle to allow the pedestrian time to move out of the path oftravel of the moving equipped vehicle; wherein said control systemprovides at least one of (i) lateral control based on a state spacecontroller and (ii) longitudinal control based on a sliding modecontroller; and wherein said control is operable to control the equippedvehicle based at least in part on a five element state vector comprising(i) a yaw rate vector, (ii) a slip angle vector, (iii) a front wheelsteering angle vector, (iv) a heading angle vector of the angle betweenthe equipped vehicle and (v) a target path and a lateral deviationvector of the deviation from the target path.
 2. The control system ofclaim 1, wherein said control system, responsive at least in part toimage processing of captured image data by said image processor,determines lane markings on the road on which the equipped vehicle istraveling and controls the steering system to move the equipped vehiclein the direction away from the side region of the occupied lane and atwhich the lane splitting vehicle is detected while keeping the equippedvehicle in the occupied traffic lane.
 3. The control system of claim 1,wherein said camera is disposed at the equipped vehicle so as to have atleast a sideward and rearward field of view.
 4. The control system ofclaim 3, wherein, responsive at least in part to image processing ofcaptured image data, said control system is operable to detect a lanesplitting vehicle approaching the equipped vehicle from behind theequipped vehicle and is operable to control the steering system to movethe equipped vehicle away from a path of travel of the detectedrearward-approaching lane splitting vehicle.
 5. The control system ofclaim 1, wherein said camera is part of a surround view vision systemthat includes cameras at respective front, rear and sides of theequipped vehicle and having respective exterior fields of view.
 6. Thecontrol system of claim 1, wherein said control system is operable todetermine a leading vehicle ahead of the equipped vehicle, and whereinsaid control system is operable to control the steering system of theequipped vehicle to follow the determined leading vehicle irrespectiveof determined lane markings on the road being traveled.
 7. The controlsystem of claim 1, wherein said control system, at least in partresponsive to detection of a gap between a leading vehicle and afollowing vehicle in a lane adjacent to the occupied lane, is operableto control the steering system of the equipped vehicle to move theequipped vehicle towards and into the gap.
 8. The control system ofclaim 7, wherein said control system is operable to steer the equippedvehicle towards and into the gap in a manner that allows the followingvehicle to slow to allow the equipped vehicle to enter the gap.
 9. Thecontrol system of claim 1, wherein said control system, at least in partresponsive to detection of another vehicle indicating an intent tochange lanes into the occupied lane and ahead of the equipped vehicle,is operable to control a braking system of the equipped vehicle todecelerate the equipped vehicle to allow for the lane change by theother vehicle.
 10. The control system of claim 1, wherein said controlsystem, at least in part responsive to detection of a stationarypedestrian in the path of travel of the equipped vehicle, is operable tostop the equipped vehicle.
 11. The control system of claim 1, whereinsaid control system, at least in part responsive to detection of themoving pedestrian in the path of travel of the equipped vehicle,determines a predicted path of the moving pedestrian and maneuvers theslowly moving equipped vehicle to avoid collision with the movingpedestrian.
 12. A control system for a vehicle, said control systemcomprising: a camera disposed at a vehicle equipped with said controlsystem, said camera having a field of view exterior of the equippedvehicle; an image processor operable to process image data captured bysaid camera; wherein said image processor is operable to processcaptured image data to detect at least one of (i) an object in the fieldof view of said camera and (ii) another vehicle in the field of view ofsaid camera; wherein said control system is operable to determine atraffic condition that the equipped vehicle is traveling in and wherein,responsive to determination of the traffic condition, said controlsystem is operable to control a steering system of the equipped vehicle;wherein, responsive at least in part to image processing of capturedimage data, said control system is operable to detect a lane splittingvehicle approaching or adjacent to the equipped vehicle; wherein, withthe equipped vehicle traveling in a traffic lane occupied by theequipped vehicle and responsive to detection of the lane splittingvehicle approaching or adjacent the equipped vehicle, said controlsystem controls the steering system of the equipped vehicle to move theequipped vehicle in a direction away from a side region of the occupiedlane at which the lane splitting vehicle is detected; and wherein saidcontrol is operable to control the equipped vehicle based at least inpart on a five element state vector comprising (i) a yaw rate vector,(ii) a slip angle vector, (iii) a front wheel steering angle vector,(iv) a heading angle vector of the angle between the equipped vehicleand (v) a target path and a lateral deviation vector of the deviationfrom the target path.
 13. A control system for a vehicle, said controlsystem comprising: a camera disposed at a vehicle equipped with saidcontrol system, said camera having a field of view exterior and at leastpartially sideward and rearward of the equipped vehicle; wherein saidcamera is part of a surround view vision system that includes othercameras at the equipped vehicle having respective exterior fields ofview; an image processor operable to process image data captured by saidcamera; wherein said image processor is operable to process capturedimage data to detect at least one of (i) an object in the field of viewof said camera and (ii) another vehicle in the field of view of saidcamera; wherein said control system is operable to determine a trafficcondition that the equipped vehicle is traveling in and wherein,responsive to determination of the traffic condition, said controlsystem is operable to control a steering system of the equipped vehicle;wherein, responsive at least in part to image processing by said imageprocessor of captured image data, said control system is operable todetect a lane splitting vehicle approaching or adjacent to the equippedvehicle; wherein, with the equipped vehicle traveling in a traffic laneoccupied by the equipped vehicle and responsive to detection, via imageprocessing of captured image data by said image processor, of the lanesplitting vehicle approaching the equipped vehicle from behind theequipped vehicle, said control system controls the steering system ofthe equipped vehicle to move the equipped vehicle in a direction awayfrom a side region of the occupied traffic lane at which the lanesplitting vehicle is detected and away from a path of travel of thedetected rearward-approaching lane splitting vehicle; wherein, aftermoving the equipped vehicle in the direction away from the side regionof the occupied traffic lane at which the lane splitting vehicle isdetected, and responsive to determination, via image processing by saidimage processor of captured image data, that the lane splitting vehiclehas passed the equipped vehicle, said control system controls thesteering system of the equipped vehicle to move the equipped vehicleback towards a center region of the occupied traffic lane; wherein saidcontrol system is operable to determine a leading vehicle ahead of theequipped vehicle, and wherein said control system is operable to controlthe steering system of the equipped vehicle to follow the determinedleading vehicle irrespective of determined lane markings on the roadbeing traveled; and wherein said control is operable to control theequipped vehicle based at least in part on a five element state vectorcomprising (i) a yaw rate vector, (ii) a slip angle vector, (iii) afront wheel steering angle vector, (iv) a heading angle vector of theangle between the equipped vehicle and (v) a target path and a lateraldeviation vector of the deviation from the target path.
 14. The controlsystem of claim 13, wherein said control system, responsive at least inpart to image processing of captured image data, determines lanemarkings on the road on which the equipped vehicle is traveling andcontrols the steering system to move the equipped vehicle in thedirection away from the side region of the occupied traffic lane and atwhich the lane splitting vehicle is detected while keeping the equippedvehicle in the occupied traffic lane.
 15. The control system of claim13, wherein said control system, at least in part responsive todetection of a stationary pedestrian in the path of travel of theequipped vehicle, is operable to stop the equipped vehicle, and whereinsaid control system, at least in part responsive to detection of amoving pedestrian in the path of travel of the equipped vehicle, isoperable to reduce the forward speed of the equipped vehicle to allowthe pedestrian time to move out of the path of travel of the equippedvehicle.
 16. A control system for a vehicle, said control systemcomprising: a plurality of cameras disposed at a vehicle equipped withsaid control system, said camera having respective fields of viewexterior of the equipped vehicle; an image processor operable to processimage data captured by said cameras; wherein said image processor isoperable to process captured image data to detect at least one of (i) anobject in the field of view of said camera and (ii) another vehicle inthe field of view of said camera; wherein said control system isoperable to determine a traffic condition that the equipped vehicle istraveling in and wherein, responsive to determination of the trafficcondition, said control system is operable to control a steering systemof the equipped vehicle; wherein, with the equipped vehicle traveling ina traffic lane occupied by the equipped vehicle, said control system isoperable to process captured image data via said image processor todetermine other vehicles in a traffic lane adjacent to the occupiedtraffic lane; wherein, responsive to image processing by said imageprocessor of captured image data, said control system detects a leadingvehicle in the traffic lane adjacent to the occupied traffic lane anddetects a following vehicle in the traffic lane adjacent to the occupiedtraffic lane and determines a gap between the detected leading vehicleand the detected following vehicle; wherein said control system, atleast in part responsive to determination of the gap between thedetected leading vehicle and the detected following vehicle in thetraffic lane adjacent to the occupied traffic lane, is operable tocontrol the steering system of the equipped vehicle to move the equippedvehicle towards and into the gap; wherein said control system isoperable to steer the equipped vehicle towards and into the gap in amanner that allows the following vehicle to slow to allow the equippedvehicle to enter the gap; wherein said control system, at least in partresponsive to detection of another vehicle indicating an intent tochange traffic lanes into the occupied traffic lane and ahead of theequipped vehicle, is operable to control a braking system of theequipped vehicle to decelerate the equipped vehicle to allow for thetraffic lane change by the other vehicle; wherein, responsive at leastin part to image processing of captured image data, said control systemis operable to detect a lane splitting vehicle approaching or adjacentto the equipped vehicle, and wherein, with the equipped vehicletraveling in the traffic lane occupied by the equipped vehicle andresponsive to detection, via image processing of captured image data bysaid image processor, of the lane splitting vehicle approaching oradjacent the equipped vehicle, said control system controls the steeringsystem of the equipped vehicle to move the equipped vehicle in adirection away from a side region of the occupied traffic lane at whichthe lane splitting vehicle is detected; wherein, after moving theequipped vehicle in the direction away from the side region of theoccupied traffic lane at which the lane splitting vehicle is detected,and responsive to determination, via image processing by said imageprocessor of captured image data, that the lane splitting vehicle haspassed the equipped vehicle, said control system controls the steeringsystem of the equipped vehicle to move the equipped vehicle back towardsa center region of the occupied traffic lane; wherein said controlsystem is operable to determine a leading vehicle ahead of the equippedvehicle in the traffic lane occupied by the equipped vehicle, andwherein said control system is operable to control the steering systemof the equipped vehicle to follow the determined leading vehicleirrespective of determined lane markings on the road being traveled;wherein said control system, at least in part responsive to detection ofa moving pedestrian in the path of travel of the equipped vehicle, isoperable to reduce the forward speed of the equipped vehicle to allowthe pedestrian time to move out of the path of travel of the movingequipped vehicle; and wherein said control is operable to control theequipped vehicle based at least in part on a five element state vectorcomprising (i) a yaw rate vector, (ii) a slip angle vector, (iii) afront wheel steering angle vector, (iv) a heading angle vector of theangle between the equipped vehicle and (v) a target path and a lateraldeviation vector of the deviation from the target path.
 17. The controlsystem of claim 16, wherein, responsive at least in part to imageprocessing of captured image data, said control system is operable todetect a lane splitting vehicle rearward of and approaching the equippedvehicle, and wherein, with the equipped vehicle traveling in the trafficlane occupied by the equipped vehicle and responsive to detection of thelane splitting vehicle rearward of and approaching the equipped vehicle,said control system controls the steering system of the equipped vehicleto move the equipped vehicle in the direction away from a side region ofthe occupied traffic lane at which the lane splitting vehicle isdetected.
 18. The control system of claim 16, wherein, when followingthe determined leading vehicle outside of lane markings on the roadbeing traveled, said control system controls the equipped vehicle atleast in part responsive to a navigation system of the equipped vehicle.19. The control system of claim 16, wherein said control system, atleast in part responsive to detection of a stationary pedestrian in thepath of travel of the equipped vehicle, is operable to stop the equippedvehicle.
 20. The control system of claim 16, wherein said controlsystem, at least in part responsive to detection of the movingpedestrian in the path of travel of the equipped vehicle, determines apredicted path of the moving pedestrian and maneuvers the slowly movingequipped vehicle to avoid collision with the moving pedestrian.